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<div class="title">ear_clipping.h</div>  </div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_EAR_CLIPPING_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SURFACE_EAR_CLIPPING_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/processing.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1_ear_clipping.html">   53</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_ear_clipping.html">EarClipping</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_mesh_processing.html">MeshProcessing</a></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;EarClipping&gt; Ptr;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const EarClipping&gt; ConstPtr;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_mesh_processing.html#a78186ddd99bfcf52cbf1f88075ddf55c">MeshProcessing::input_mesh_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_mesh_processing.html#a02583e7db4cdeeadfb6e04cea68f3c7b">MeshProcessing::initCompute</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_ear_clipping.html#aeb42099c1c642dfe451b5249769e9099">   62</a></span>&#160;      <a class="code" href="classpcl_1_1_ear_clipping.html#aeb42099c1c642dfe451b5249769e9099">EarClipping</a> () : <a class="code" href="classpcl_1_1_mesh_processing.html">MeshProcessing</a> (), points_ ()</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      { </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      };</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1_ear_clipping.html#a9115093c24bb518fde1d7ce224be62a1">   68</a></span>&#160;      pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr <a class="code" href="classpcl_1_1_ear_clipping.html#a9115093c24bb518fde1d7ce224be62a1">points_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1_ear_clipping.html#a40d8b24a626d6dfcb2f1958b7919691c">   72</a></span>&#160;      <a class="code" href="classpcl_1_1_ear_clipping.html#a40d8b24a626d6dfcb2f1958b7919691c">initCompute</a> ();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_ear_clipping.html#a3b0e357c15df975bff086d9c1394a2be">   78</a></span>&#160;      <a class="code" href="classpcl_1_1_ear_clipping.html#a3b0e357c15df975bff086d9c1394a2be">performProcessing</a> (<a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;output);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_ear_clipping.html#a1538209e87c9b69feb11f4adf98373b1">   85</a></span>&#160;      <a class="code" href="classpcl_1_1_ear_clipping.html#a1538209e87c9b69feb11f4adf98373b1">triangulate</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_vertices.html">Vertices</a>&amp; vertices, <a class="code" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a>&amp; output);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1_ear_clipping.html#adb6994298ab187d81275a7cc0eadcfff">   91</a></span>&#160;      <a class="code" href="classpcl_1_1_ear_clipping.html#adb6994298ab187d81275a7cc0eadcfff">area</a> (<span class="keyword">const</span> std::vector&lt;uint32_t&gt;&amp; vertices);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_ear_clipping.html#a534cc5e4e0ad6fe211a0283d23acb56d">  100</a></span>&#160;      <a class="code" href="classpcl_1_1_ear_clipping.html#a534cc5e4e0ad6fe211a0283d23acb56d">isEar</a> (<span class="keywordtype">int</span> u, <span class="keywordtype">int</span> v, <span class="keywordtype">int</span> w, <span class="keyword">const</span> std::vector&lt;uint32_t&gt;&amp; vertices);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1_ear_clipping.html#a52b3f9971f528061dab52b75febfdf42">  109</a></span>&#160;      <a class="code" href="classpcl_1_1_ear_clipping.html#a52b3f9971f528061dab52b75febfdf42">isInsideTriangle</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; u,</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                        <span class="keyword">const</span> Eigen::Vector3f&amp; v,</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                        <span class="keyword">const</span> Eigen::Vector3f&amp; w,</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                        <span class="keyword">const</span> Eigen::Vector3f&amp; p);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_ear_clipping.html#ad484fc8ecd3a2e2cf2fc59703e2711b7">  119</a></span>&#160;      <a class="code" href="classpcl_1_1_ear_clipping.html#ad484fc8ecd3a2e2cf2fc59703e2711b7">crossProduct</a> (<span class="keyword">const</span> Eigen::Vector2f&amp; p1, <span class="keyword">const</span> Eigen::Vector2f&amp; p2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordflow">return</span> p1[0]*p2[1] - p1[1]*p2[0];</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  };</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// #ifndef PCL_SURFACE_EAR_CLIPPING_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_ear_clipping_html"><div class="ttname"><a href="classpcl_1_1_ear_clipping.html">pcl::EarClipping</a></div><div class="ttdoc">The ear clipping triangulation algorithm. The code is inspired by Flavien Brebion implementation,...</div><div class="ttdef"><b>Definition:</b> ear_clipping.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_ear_clipping_html_a1538209e87c9b69feb11f4adf98373b1"><div class="ttname"><a href="classpcl_1_1_ear_clipping.html#a1538209e87c9b69feb11f4adf98373b1">pcl::EarClipping::triangulate</a></div><div class="ttdeci">void triangulate(const Vertices &amp;vertices, PolygonMesh &amp;output)</div><div class="ttdoc">Triangulate one polygon.</div></div>
<div class="ttc" id="aclasspcl_1_1_ear_clipping_html_a3b0e357c15df975bff086d9c1394a2be"><div class="ttname"><a href="classpcl_1_1_ear_clipping.html#a3b0e357c15df975bff086d9c1394a2be">pcl::EarClipping::performProcessing</a></div><div class="ttdeci">void performProcessing(pcl::PolygonMesh &amp;output)</div><div class="ttdoc">The actual surface reconstruction method.</div></div>
<div class="ttc" id="aclasspcl_1_1_ear_clipping_html_a40d8b24a626d6dfcb2f1958b7919691c"><div class="ttname"><a href="classpcl_1_1_ear_clipping.html#a40d8b24a626d6dfcb2f1958b7919691c">pcl::EarClipping::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div></div>
<div class="ttc" id="aclasspcl_1_1_ear_clipping_html_a52b3f9971f528061dab52b75febfdf42"><div class="ttname"><a href="classpcl_1_1_ear_clipping.html#a52b3f9971f528061dab52b75febfdf42">pcl::EarClipping::isInsideTriangle</a></div><div class="ttdeci">bool isInsideTriangle(const Eigen::Vector3f &amp;u, const Eigen::Vector3f &amp;v, const Eigen::Vector3f &amp;w, const Eigen::Vector3f &amp;p)</div><div class="ttdoc">Check if p is inside the triangle (u,v,w).</div></div>
<div class="ttc" id="aclasspcl_1_1_ear_clipping_html_a534cc5e4e0ad6fe211a0283d23acb56d"><div class="ttname"><a href="classpcl_1_1_ear_clipping.html#a534cc5e4e0ad6fe211a0283d23acb56d">pcl::EarClipping::isEar</a></div><div class="ttdeci">bool isEar(int u, int v, int w, const std::vector&lt; uint32_t &gt; &amp;vertices)</div><div class="ttdoc">Check if the triangle (u,v,w) is an ear.</div></div>
<div class="ttc" id="aclasspcl_1_1_ear_clipping_html_a9115093c24bb518fde1d7ce224be62a1"><div class="ttname"><a href="classpcl_1_1_ear_clipping.html#a9115093c24bb518fde1d7ce224be62a1">pcl::EarClipping::points_</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr points_</div><div class="ttdoc">a Pointer to the point cloud data.</div><div class="ttdef"><b>Definition:</b> ear_clipping.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1_ear_clipping_html_ad484fc8ecd3a2e2cf2fc59703e2711b7"><div class="ttname"><a href="classpcl_1_1_ear_clipping.html#ad484fc8ecd3a2e2cf2fc59703e2711b7">pcl::EarClipping::crossProduct</a></div><div class="ttdeci">float crossProduct(const Eigen::Vector2f &amp;p1, const Eigen::Vector2f &amp;p2) const</div><div class="ttdoc">Compute the cross product between 2D vectors.</div><div class="ttdef"><b>Definition:</b> ear_clipping.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1_ear_clipping_html_adb6994298ab187d81275a7cc0eadcfff"><div class="ttname"><a href="classpcl_1_1_ear_clipping.html#adb6994298ab187d81275a7cc0eadcfff">pcl::EarClipping::area</a></div><div class="ttdeci">float area(const std::vector&lt; uint32_t &gt; &amp;vertices)</div><div class="ttdoc">Compute the signed area of a polygon.</div></div>
<div class="ttc" id="aclasspcl_1_1_ear_clipping_html_aeb42099c1c642dfe451b5249769e9099"><div class="ttname"><a href="classpcl_1_1_ear_clipping.html#aeb42099c1c642dfe451b5249769e9099">pcl::EarClipping::EarClipping</a></div><div class="ttdeci">EarClipping()</div><div class="ttdoc">Empty constructor</div><div class="ttdef"><b>Definition:</b> ear_clipping.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1_mesh_processing_html"><div class="ttname"><a href="classpcl_1_1_mesh_processing.html">pcl::MeshProcessing</a></div><div class="ttdoc">MeshProcessing represents the base class for mesh processing algorithms.</div><div class="ttdef"><b>Definition:</b> processing.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_mesh_processing_html_a02583e7db4cdeeadfb6e04cea68f3c7b"><div class="ttname"><a href="classpcl_1_1_mesh_processing.html#a02583e7db4cdeeadfb6e04cea68f3c7b">pcl::MeshProcessing::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">Initialize computation. Must be called before processing starts.</div></div>
<div class="ttc" id="aclasspcl_1_1_mesh_processing_html_a78186ddd99bfcf52cbf1f88075ddf55c"><div class="ttname"><a href="classpcl_1_1_mesh_processing.html#a78186ddd99bfcf52cbf1f88075ddf55c">pcl::MeshProcessing::input_mesh_</a></div><div class="ttdeci">pcl::PolygonMeshConstPtr input_mesh_</div><div class="ttdoc">Input polygonal mesh.</div><div class="ttdef"><b>Definition:</b> processing.h:147</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> PolygonMesh.h:16</div></div>
<div class="ttc" id="astructpcl_1_1_vertices_html"><div class="ttname"><a href="structpcl_1_1_vertices.html">pcl::Vertices</a></div><div class="ttdoc">Describes a set of vertices in a polygon mesh, by basically storing an array of indices.</div><div class="ttdef"><b>Definition:</b> Vertices.h:15</div></div>
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